version: 66.03
glider: 5
mission: 3
dive: 271
start: 8 4 108 15 57 23
data:
$ID,5
$MISSION,3
$DIVE,271
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81719.211
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,154802,6242.109,-1007.648,37,1.7,37,-10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-46.9
$GPS2,155632,6241.976,-1007.862,10,1.1,15,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,-0.111
$KALMAN_X,-139626.5,1708.9,231.4,177196.7,-14351.6
$KALMAN_Y,-27650.5,981.0,-926.1,88212.5,-3152.0
$MHEAD_RNG_PITCHd_Wd,130.3,27855,-16.7,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,142,0.00,0.00,-111.80,0.000,6,0.000,0.000,420,2173,3099
$GC,146,-1.30,-117.3,2.5,-2.2,6,162,10.60,2.55,0.00,0.000,4,0.143,0.051,2440,740,3098
$GC,414,-1.03,-117.3,36.5,-11.2,17,420,0.30,2.53,0.00,0.000,6,0.093,0.047,2502,2155,3097
$GC,739,-0.98,-117.3,61.4,-7.2,33,743,0.00,2.55,0.00,0.000,4,0.000,0.054,2502,741,3098
$GC,804,-0.93,-117.3,65.9,-6.9,36,809,0.12,2.50,0.00,0.000,6,0.097,0.047,2527,2152,3097
$GC,1133,-0.93,-117.3,83.0,-5.8,52,1137,0.00,2.55,0.00,0.000,4,0.000,0.056,2527,741,3097
$GC,1157,-0.93,-117.3,84.6,-6.3,53,1161,0.00,2.47,0.00,0.000,6,0.000,0.048,2527,2127,3097
$GC,1478,-0.93,-117.3,112.0,-9.2,69,1482,0.00,2.53,0.00,0.000,4,0.000,0.057,2527,734,3098
$GC,1505,-0.93,-117.3,114.7,-9.9,70,1509,0.00,2.47,0.00,0.000,6,0.000,0.048,2527,2125,3098
$GC,1823,-0.93,-117.3,144.2,-9.6,85,1828,0.00,2.55,0.00,0.000,4,0.000,0.059,2527,3556,3098
$GC,1868,-0.93,-117.3,148.8,-10.1,87,1872,0.00,2.53,0.00,0.000,6,0.000,0.045,2527,2126,3098
$GC,2190,-0.97,-117.3,174.4,-6.9,103,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2107,3097
$GC,2499,-1.01,-117.3,192.4,-5.5,118,2504,0.00,2.62,0.00,0.000,4,0.000,0.060,2527,3565,3097
$GC,2567,-1.01,-117.3,196.6,-6.4,121,2571,0.00,2.55,0.00,0.000,6,0.000,0.047,2527,2126,3097
$GC,2888,-1.01,-117.3,220.0,-8.2,137,2892,0.00,2.60,0.00,0.000,4,0.000,0.061,2527,3556,3097
$GC,2898,-1.01,-117.3,221.0,-8.5,137,2904,0.00,2.58,0.00,0.000,6,0.000,0.048,2527,2109,3097
$GC,3214,-1.06,-117.3,252.8,-10.3,153,3220,0.12,2.62,0.00,0.000,4,0.053,0.060,2489,3555,3097
$GC,3238,-1.06,-117.3,255.4,-11.4,154,3242,0.00,2.55,0.00,0.000,6,0.000,0.048,2489,2124,3097
$GC,3560,-1.00,-117.3,284.2,-7.2,170,3562,0.10,0.00,0.00,0.000,6,0.100,0.000,2510,2124,3097
$GC,3868,-1.00,-117.3,298.5,-4.1,185,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2124,3096
$GC,4178,-1.00,-117.3,317.6,-7.3,200,4182,0.00,2.62,0.00,0.000,4,0.000,0.063,2510,3560,3096
$GC,4189,-1.00,-117.3,318.5,-7.3,200,4195,0.00,2.58,0.00,0.000,6,0.000,0.051,2510,2118,3096
$GC,4505,-1.00,-117.3,347.2,-9.6,216,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2117,3096
$GC,4815,-1.00,-117.3,375.6,-8.6,231,4819,0.00,2.45,0.00,0.000,4,0.000,0.061,2509,744,3096
$GC,4854,-1.00,-117.3,379.1,-8.3,232,4860,0.00,2.45,0.00,0.000,6,0.000,0.052,2509,2115,3095
$GC,5170,-1.00,-117.3,399.2,-5.1,248,5175,0.00,2.50,0.00,0.000,4,0.000,0.061,2510,738,3095
$GC,5326,-1.00,-117.3,405.9,-3.8,255,5330,0.00,2.42,0.00,0.000,6,0.000,0.054,2510,2088,3095
$GC,5653,-1.00,-117.3,416.5,-3.4,271,5658,0.00,2.65,0.00,0.000,4,0.000,0.066,2510,3562,3095
$GC,5739,-1.00,-117.3,420.0,-4.7,275,5744,0.00,2.65,0.00,0.000,6,0.000,0.053,2510,2077,3095
$GC,6067,-1.00,-117.3,433.4,-5.3,291,6071,0.00,2.40,0.00,0.000,4,0.000,0.067,2510,746,3094
$GC,6079,-1.00,-117.3,434.1,-5.7,291,6085,0.00,2.40,0.00,0.000,6,0.000,0.056,2510,2067,3094
$GC,6395,-1.00,-117.3,457.7,-8.1,307,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2068,3094
$GC,6704,-1.00,-117.3,481.2,-7.3,322,6709,0.00,2.42,0.00,0.000,4,0.000,0.067,2510,746,3093
$GC,6727,-1.00,-117.3,483.0,-7.2,323,6731,0.00,2.40,0.00,0.000,6,0.000,0.059,2510,2060,3093
$GC,7049,-1.00,-117.3,505.1,-7.1,339,7053,0.00,2.45,0.00,0.000,4,0.000,0.069,2510,740,3092
$GC,7060,-1.00,-117.3,506.1,-6.7,339,7066,0.00,2.42,0.00,0.000,6,0.000,0.060,2510,2065,3092
$STATE,7146,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7146,begin apogee
$GC,7153,-0.33,0.0,513.2,8.2,344,7253,0.70,0.00,97.18,1.184,6,0.083,0.000,2656,2066,2620
$STATE,7254,end apogee,CONTROL_FINISHED_OK
$STATE,7254,begin climb
$GC,7257,1.30,117.3,516.0,0.0,349,7363,1.65,2.72,96.45,1.157,4,0.069,0.068,3012,3494,2141
$GC,7436,1.20,117.3,501.6,10.7,357,7441,0.00,2.58,0.00,0.000,6,0.000,0.060,3012,2102,2140
$GC,7753,1.10,117.3,471.5,10.4,372,7755,0.22,0.00,0.00,0.000,6,0.089,0.000,2970,2072,2140
$GC,8062,1.14,117.3,444.1,8.5,387,8066,0.00,2.62,0.00,0.000,4,0.000,0.071,2970,3509,2139
$GC,8184,1.14,117.3,433.5,8.5,392,8190,0.00,2.53,0.00,0.000,6,0.000,0.058,2970,2127,2139
$GC,8502,1.25,157.2,413.4,6.2,408,8544,0.15,2.65,33.28,1.116,4,0.053,0.069,3011,3498,1979
$GC,8612,1.18,157.2,403.4,9.5,413,8617,0.12,2.50,0.00,0.000,6,0.097,0.058,2988,2139,1979
$GC,8940,1.18,157.2,372.7,10.3,429,8944,0.00,2.65,0.00,0.000,4,0.000,0.068,2988,684,1978
$GC,9036,1.18,157.2,362.9,10.6,433,9040,0.00,2.62,0.00,0.000,6,0.000,0.058,2988,2131,1977
$GC,9352,1.18,157.2,334.1,9.4,448,9356,0.00,2.53,0.00,0.000,4,0.000,0.067,2988,3512,1976
$GC,9396,1.18,157.2,330.0,9.1,450,9400,0.00,2.50,0.00,0.000,6,0.000,0.054,2988,2133,1977
$GC,9717,1.18,157.2,302.6,8.8,466,9721,0.00,2.60,0.00,0.000,4,0.000,0.065,2988,690,1976
$GC,9750,1.18,157.2,299.2,10.8,467,9756,0.00,2.65,0.00,0.000,6,0.000,0.058,2988,2149,1976
$GC,10066,1.18,157.2,268.3,9.8,483,10070,0.00,2.47,0.00,0.000,4,0.000,0.065,2988,3514,1976
$GC,10138,1.18,157.2,260.6,10.5,486,10143,0.00,2.45,0.00,0.000,6,0.000,0.052,2988,2154,1976
$GC,10455,1.18,157.2,232.0,8.8,501,10459,0.00,2.47,0.00,0.000,4,0.000,0.063,2988,3509,1976
$GC,10505,1.18,157.2,227.3,9.0,503,10510,0.00,2.40,0.00,0.000,6,0.000,0.051,2988,2174,1976
$GC,10821,1.18,157.2,201.3,8.1,518,10825,0.00,2.65,0.00,0.000,4,0.000,0.064,2988,684,1976
$GC,10877,1.18,157.2,196.3,10.0,520,10883,0.00,2.65,0.00,0.000,6,0.000,0.053,2988,2167,1976
$GC,11193,1.18,157.2,170.4,8.2,536,11197,0.00,2.42,0.00,0.000,4,0.000,0.062,2988,3514,1976
$GC,11248,1.18,157.2,165.6,8.8,538,11254,0.00,2.42,0.00,0.000,6,0.000,0.049,2987,2161,1976
$GC,11565,1.18,157.2,136.7,10.2,554,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2161,1977
$GC,11874,1.22,157.2,106.6,8.7,569,11875,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2161,1977
$GC,12183,1.27,157.2,75.2,12.1,584,12187,0.00,2.45,0.00,0.000,4,0.000,0.058,2988,3515,1977
$GC,12225,1.32,157.2,70.0,12.8,586,12230,0.12,2.38,0.00,0.000,6,0.051,0.046,3024,2174,1978
$GC,12552,1.27,157.2,36.3,8.8,602,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2174,1978
$GC,12863,1.22,157.2,9.3,9.3,617,12868,0.15,2.45,0.00,0.000,4,0.087,0.058,2991,3516,1978
$GC,12913,1.31,157.2,3.9,10.4,619,12918,0.10,2.33,0.00,0.000,6,0.054,0.046,3022,2209,1979
$STATE,12938,end climb,SURFACE_DEPTH_REACHED
$STATE,12938,begin surface coast
$FINISH,0.3,1.026920
$STATE,12960,end surface coast,CONTROL_FINISHED_OK
$STATE,12960,begin surface
$SM_CCo,12983,231.88,0.783,0,0,389,547.02
$SM_GC,0.50,0.00,0.00,231.88,0.000,0.000,0.783,421,2135,389,-10.62,-0.90,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1702
$TCM_TEMP,17.60
$XPDR_PINGS,346
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,450.9,70.8
$24V_AH,23.8,51.270
$10V_AH,10.1,24.782
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.725,136.350,226.900,231.875,0.000,75.523,137.551,120.984,90.250,0.000,0.000,15.344,1213.623,9828.263,636.532,1449.609,602.610,33.357,1378.462,0.000,1415.964,0.000,26.929
$DEVICE_MAMPS,142.662,80.535,1184.248,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.279,458.655,437.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31805,621
$CAP_FILE_SIZE,107996,0
$CFSIZE,254472192,234250240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,040808,193901,6239.821,-1009.540,42,1.5,42,-10.3